function [Bez_points, num_path, num_segments, delta_t, t, solution1, solution2, solution3, solution4, solution5,...
    Path_bez, ms_i, uav_ws, n_obs, obs, obs_rad] = make_video_5_20a()

%inputs
Bez_points = [5,5;8.99005733631253,4.82180763288518;12.9801146726251,4.64361526577037;17.0990812956006,10.3592698162373;21.2180479185762,16.0749243667043;26.7890185827123,21.7887385637922;32.3599892468484,27.5025527608802;36.6433392037604,32.1460882754475;40.9266891606723,36.7896237900148;42.9767375948889,39.9296558626800;45.0267860291054,43.0696879353452;48.6152575418982,48.1879155992078;52.2037290546910,53.3061432630704;55.4462616727355,55.4136980614011;58.6887942907799,57.5212528597319;62.9732882467565,61.9671083533370;67.2577822027331,66.4129638469422;70.6108292800425,70.2470080021779;73.9638763573519,74.0810521574135;79.0506207350567,75.3018177429301;84.1373651127615,76.5225833284468;88.4900328524513,83.6371570359496;92.8427005920561,90.7517307411070;95.2584361957648,93.8901579357937;97.6741717995689,97.0285851304330;100,100];

num_path = 3;
num_segments = 13; %0;
delta_t = 0.1;
t = 0 : delta_t : 1;

solution1 = [5,5;8.99005733631253,4.82180763288518;12.9801146726284,4.64361526577039;17.0990666979078,10.3592622992561;21.2180187231874,16.0749093327388;26.7902513123594,21.7905633466109;12.9801146726251,4.64361526577037;17.0990812956006,10.3592698162373;21.2180479185763,16.0749243667027;26.7890225429268,21.7887442995892;32.3599971672836,27.5025642325017;37.0917738652066,32.6897993219561;21.2180479185762,16.0749243667043;26.7890185827123,21.7887385637922;32.3599892468484,27.5025527608801;36.6510000249846,32.1599278159863;40.9420108031201,36.8173028710916;44.3426225152965,40.4266325207913;32.3599892468484,27.5025527608802;36.2382965674316,31.7127573814241;40.1166038880147,35.9229620019680;43.4936343952033,39.5218637665199;46.8706649023920,43.1207655310718;50.3240646787556,46.8256388962603;40.9266891606723,36.7896237900148;42.9767375948889,39.9296558626800;45.0267860291054,43.0696879353453;48.6152575418982,48.1879155992078;52.2037290546910,53.3061432630704;55.4462616727355,55.4136980614011;45.0267860291054,43.0696879353452;48.6152575418982,48.1879155992078;52.2037290546910,53.3061432630704;55.4462616727355,55.4136980614011;58.6887942907799,57.5212528597319;66.2200911657264,65.8103850421479;52.2037290546910,53.3061432630704;55.4462616727355,55.4136980614011;58.6887942907799,57.5212528597319;66.2114042335778,65.5570337597712;73.7340141763736,73.5928146598115;76.4506909323167,76.1778035220408;58.6887942907799,57.5212528597319;66.2200911657215,65.8103850421525;73.7513880406631,74.0995172245731;77.8370488332466,74.9095795013511;81.9227096258300,75.7196417781291;86.2386927985550,80.0667738543005;67.2577822027331,66.4129638469422;70.6108292800425,70.2470080021779;73.9638763573521,74.0810521574135;79.0528967459186,75.2969492385425;84.1419171344853,76.5128463196715;89.0634444304711,85.9279197319088;73.9638763573519,74.0810521574135;79.0506207368994,75.3018177389920;84.1373651164469,76.5225833205706;89.6268689019685,85.4610440068482;95.1163726874901,94.3995046931257;98.2402984979176,97.7165155063148;84.1373651127615,76.5225833284468;87.7673400183662,82.9020847939695;91.3973149239708,89.2815862594923;93.8556993529004,92.1133429580065;96.3140837818301,94.9450996565203;99.9998156223516,99.9997597100388];

solution2 = [5,5;8.72191188767402,3.84863669216485;12.4438237753480,2.69727338432970;15.7713016211301,9.74108148324098;19.0987794669122,16.7848895821523;22.7331145652870,15.8607097334643;12.9801146726251,4.64361526577037;17.0990685221950,10.3592635318528;21.2180223717717,16.0749117979360;23.9165053823583,18.8137162310970;26.6149883929510,21.5525206642644;30.8027862961525,26.1054158397037;21.2180479185762,16.0749243667043;23.8446848688309,18.8451536854927;26.4713218190856,21.6153830042812;33.2664186704218,21.1479788540484;40.0615155217581,20.6805747038157;43.5760531849447,21.9884451159111;32.3599892468484,27.5025527608802;36.6433392037604,32.1460882754475;40.9266891606724,36.7896237900148;43.4940173819093,39.5229963962393;46.0613456031463,42.2563690024638;50.3238024872286,46.8273743858310;40.9266891606723,36.7896237900148;41.3508966981202,40.7846639814344;41.7751042355681,44.7797041728541;49.9344632744319,41.1329005654622;58.0938223132957,37.4860969580704;58.6943609819643,41.1883737387779;45.0267860291054,43.0696879353452;48.6152575418982,48.1879155992080;52.2037290546910,53.3061432630707;55.4462616727379,55.4136980614029;58.6887942907849,57.5212528597351;63.6369350085101,51.3449485184571;52.2037290546910,53.3061432630704;55.4462616727355,55.4136980614011;58.6887942907799,57.5212528597319;66.2114063412554,65.5570316908519;73.7340183917309,73.5928105219720;76.4506915650008,76.1778031466526;58.6887942907799,57.5212528597319;62.9732882467565,61.9671083533370;67.2577822027337,66.4129638469418;69.9407667929464,69.1402133505133;72.6237513831586,71.8674628540857;77.5607655185232,75.6034776474013;67.2577822027331,66.4129638469422;70.9790702480028,70.4145829699508;74.7003582932736,74.4162020929595;79.4359223230599,75.4535849956492;84.1714863528444,76.4909678983390;89.3383274669534,86.2043267597539;73.9638763573519,74.0810521574135;79.0506207350567,75.3018177429301;84.1373651127615,76.5225833284468;89.6268693395454,85.4610436229418;95.1163735663294,94.3995039174367;98.2402981953099,97.7165157396181;84.1373651127615,76.5225833284468;87.7664791221104,82.9029495775259;91.3955931314543,89.2833158266118;93.8550103894328,92.1141760706794;96.3144276474390,94.9450363147452;99.9999503867137,99.9999182982258];

solution3 = [5,5;4.70362129399763,8.73826960807114;4.40724258799527,12.4765392161423;6.85053100591528,19.3542025136693;9.29381942383529,26.2318658111963;12.5086615178831,28.1624849632775;12.9801146726251,4.64361526577037;17.0990675373253,10.3592629979694;21.2180204020256,16.0749107301684;23.9270513791831,18.8262458915958;26.6360823563405,21.5775810530233;34.0045682786632,29.5348099022036;21.2180479185762,16.0749243667043;24.5004473051337,19.4045840146099;27.7828466916913,22.7342436625155;34.8074586739627,30.3019246500885;41.8320706562342,37.8696056376616;45.0387892870126,41.2709253026031;32.3599892468484,27.5025527608802;35.0015279846818,30.3857647032479;37.6430667225152,33.2689766456158;42.2386621172687,38.1705305152064;46.8342575120223,43.0720843847966;50.3251891577345,46.8182296500343;40.9266891606723,36.7896237900148;44.7913833737549,37.7005685972412;48.6560775868374,38.6115134044675;49.9203209740152,45.6457773328672;51.1845643611931,52.6800412612668;48.3040670578252,55.0811316979832;45.0267860291054,43.0696879353452;48.6152575418982,48.1879155992078;52.2037290546910,53.3061432630704;55.4462616727355,55.4136980614011;58.6887942907799,57.5212528597319;66.2200911657262,65.8103850421482;52.2037290546910,53.3061432630704;55.7514436195163,55.0750675276117;59.2991581818556,56.8439917958619;57.4962650173351,68.5432652228840;55.6933718518243,80.2425386404943;63.9481216210129,78.0271394310462;58.6887942907799,57.5212528597319;62.7746225088742,62.1753358903193;66.8604507269686,66.8294189209067;65.2956153914387,71.3420134893763;63.7307800559087,75.8546080578459;64.0278729210721,81.1977294367665;67.2577229256604,66.4130642225487;70.4993796303325,68.5273688303136;73.7410363369849,70.6416718494840;74.3692767633354,77.5694612828916;74.9975171911735,84.4972507250164;70.0806622631753,85.5960062296098;73.9638763573519,74.0810521574135;74.8641508167141,79.1591680464272;75.7644252761174,84.2372839355003;82.8815509037444,82.4567929322025;89.9986765314919,80.6763019313020;91.4119316131517,89.0529782607942;84.1373651127615,76.5225833284468;87.7665016729860,82.9028526963291;91.3956382331584,89.2831220642646;93.8544115619203,92.1145411249090;96.3131848905455,94.9459601853987;99.9999190282606,99.9998788684270];

solution4 = [5,5;13.9398141986157,3.80843373234487;22.8796283972314,2.61686746468972;26.3854875604630,3.94782852901235;29.8913467236956,5.27878959333550;36.0685478193083,15.1791987290710;12.9801146726251,4.64361526577037;19.8693581880281,3.58182700324339;26.7586017034312,2.52003874071643;28.9584749205025,6.08346414363955;31.1583481375736,9.64688954656278;37.8993883365515,18.1195489485423;21.2180479185762,16.0749243667043;18.2980934944793,2.95573216542876;15.3781390703825,-10.1634600358468;24.2473189789580,-1.61118321968945;33.1164988875335,6.94109359646787;32.2251507245051,10.5836199796622;32.3599892468484,27.5025527608802;37.0240331093699,23.2878579677203;41.6880769718916,19.0731631745606;46.4345648027297,24.1338572001216;51.1810526335675,29.1945512256827;54.0499305926579,34.1717002677417;40.9266891606723,36.7896237900148;45.5534862560024,34.1576200198918;50.1802833513325,31.5256162497690;54.2201326706425,29.1688061400312;58.2599819899525,26.8119960302935;62.5677592170140,32.5983496789168;45.0267860291054,43.0696879353452;50.6797147665355,35.9141998226333;56.3326435039656,28.7587117099214;62.0924059391773,29.8323539230642;67.8521683743890,30.9059961362070;70.2485860966136,35.0421754585446;52.2037290546910,53.3061432630704;51.7877353984512,42.9716200474539;51.3717417440065,32.6370968320513;60.9311685828087,36.9137743387239;70.4905954171028,41.1904518424205;66.8877421641238,29.4894536011021;58.6887942907799,57.5212528597319;63.4105423066655,50.9415147192702;68.1322903243552,44.3617765770822;76.2804091667995,48.4367636885480;84.4285280010699,52.5117507720535;89.7213761416453,53.7788490050249;67.2577822027331,66.4129638469422;71.7324419198443,62.2857468031530;76.2071016369555,58.1585297593636;79.7231059881257,56.3181025810939;83.2391103392958,54.4776754028244;89.3606711668176,53.8747779200089;73.5256529149961,74.0810521574135;73.6394124343949,61.8587308039483;73.7531719527843,49.6364094500570;80.9269482026234,60.0838345684013;88.1007244519430,70.5312596871883;90.2910733613284,67.5561451806830;84.1373651127615,76.5225833284468;88.2405265045046,70.5740636945000;92.3436878969688,64.6255440605619;98.3227195942491,67.9306806914914;104.301751293313,71.2358173072866;108.690486968694,68.3813164168874];

solution5 = [5,5;4.72605195274461,9.17120168978977;4.45210390548922,13.3424033795795;7.14414684649303,20.1809666063114;9.83618978749684,27.0195298330433;13.1591654573816,28.7574402730124;8.18634468866328,4.64361526577036;1.21939894515732,11.0425229563560;-5.74754680567506,17.4414306466360;-3.14141743541677,22.4675089431051;-0.535288075440897,27.4935872476479;9.14112493447947,30.2803962672880;21.2180479185762,16.0584132544160;8.30072096427651,15.3290039228517;-4.61660599039254,14.5995945907353;1.56490720451162,22.1698409944349;7.74642040396444,29.7400873946566;12.4681681688099,31.7780168531699;32.3599892468484,27.5025527608802;29.5837718973233,30.3831422940967;26.8075545477982,33.2637318273133;25.5591944972736,39.3992698671464;24.3108344467489,45.5348079069795;22.9671624424629,49.0469025456832;40.9266891606723,36.7896237900148;33.6739062296567,40.2650421486305;26.4211232986331,43.7404605072462;23.5456172990772,48.0057034461894;20.6701112995238,52.2709463851333;25.6835390315356,56.7589606793316;45.0292710321494,43.0696879353452;41.5171047081146,47.4915770143996;38.0049383839028,51.9134660933756;34.3293054003928,52.6780588353239;30.6536724176419,53.4426515772559;32.4274808647613,61.8612335474917;52.2038002585613,53.3061569125728;46.5503169019633,56.4396240055931;40.8968360732889,59.5730910244892;37.8121139980590,63.7486155906659;34.7273918594789,67.9241401571568;31.4466826718260,71.4592901409681;58.6887942907799,57.5212528597319;49.9879159427959,66.9364724029021;41.2870375947685,76.3516919460856;51.3560416130321,74.2819972748953;61.4250456311754,72.2123026038113;43.8580108724091,74.1101396714272;67.2577822027331,66.4129638469422;62.7731069836820,70.6711343741865;58.2884317646309,74.9293049014308;60.3832907418262,79.6543214432518;62.4781497190215,84.3793379850727;67.5817633584474,86.1685626760683;73.9638763573519,74.0810521574135;65.5580840387746,76.3862716690874;57.1522917201974,78.6914911807613;61.3122041795564,82.5687068059154;65.4721166389154,86.4459224310694;57.0663243203381,88.7511419427433;84.1373651127615,76.5225833284468;76.2462430631051,82.3280743573860;68.3551210133346,88.1335653862070;76.2523716099513,94.4124829338866;84.1496222103413,100.691400481490;75.5798487191009,101.885880622429];

Path_bez = [0,0;0.989900573363125,0.948218076328852;1.95960229345250,1.79287230531541;2.90910516026813,2.53396268695967;3.83840917381000,3.17148922126163;4.74751433407813,3.70545190822130;5.63642064107251,4.13585074783867;6.50512809479314,4.46268574011374;7.35363669524002,4.68595688504652;8.18194644241315,4.80566418263700;8.99005733631253,4.82180763288518;8.99005733631253,4.82180763288518;9.78935789644166,4.84510762863804;10.5912366423041,4.98628456274253;11.3956935738997,5.24533843519865;12.2027286912286,5.62226924600641;13.0123419942908,6.11707699516581;13.8245334830862,6.72976168267684;14.6393031576149,7.46032330853951;15.4566510178769,8.30876187275382;16.2765770638721,9.27507737531975;17.0990812956006,10.3592698162373;17.0990812956006,10.3592698162373;17.9373946606073,11.5023823227969;18.8047481064373,12.6454580222890;19.7011416330904,13.7884969147134;20.6265752405667,14.9314990000703;21.5810489288663,16.0744642783595;22.5645626979891,17.2173927495812;23.5771165479351,18.3602844137353;24.6187104787043,19.5031392708219;25.6893444902967,20.6459573208408;26.7890185827123,21.7887385637922;26.7890185827123,21.7887385637922;27.8903365084673,22.9207986163846;28.9659020200778,24.0314530953266;30.0157151175438,25.1207020006181;31.0397758008653,26.1885453322593;32.0380840700424,27.2349830902500;33.0106399250749,28.2600152745903;33.9574433659630,29.2636418852802;34.8784943927066,30.2458629223197;35.7737930053058,31.2066783857088;36.6433392037604,32.1460882754475;36.6433392037604,32.1460882754475;37.4776761799158,33.0597603439419;38.2673471256174,33.9433623435983;39.0123520408650,34.7968942744167;39.7126909256587,35.6203561363970;40.3683637799985,36.4137479295393;40.9793706038844,37.1770696538435;41.5457113973164,37.9103213093097;42.0673861602945,38.6135028959379;42.5443948928186,39.2866144137280;42.9767375948889,39.9296558626800;42.9767375948889,39.9296558626800;43.4021315125180,40.5774442331250;43.8582938917186,41.2647965153940;44.3452247324907,41.9917127094869;44.8629240348343,42.7581928154038;45.4113917987495,43.5642368331446;45.9906280242362,44.4098447627093;46.6006327112944,45.2950166040980;47.2414058599242,46.2197523573107;47.9129474701254,47.1840520223473;48.6152575418982,48.1879155992078;48.6152575418982,48.1879155992078;49.3294924555093,49.1814544033250;50.0368085912254,50.1147797501316;50.7372059490466,50.9878916396275;51.4306845289727,51.8007900718128;52.1172443310039,52.5534750466874;52.7968853551402,53.2459465642514;53.4696076013814,53.8782046245048;54.1354110697278,54.4502492274476;54.7942957601791,54.9620803730797;55.4462616727355,55.4136980614011;55.4462616727355,55.4136980614011;56.1051878097237,55.8585920280200;56.7849531734705,56.3502520085444;57.4855577639760,56.8886780029743;58.2070015812402,57.4738700113096;58.9492846252630,58.1058280335505;59.7124068960444,58.7845520696968;60.4963683935844,59.5100421197486;61.3011691178832,60.2822981837060;62.1268090689405,61.1013202615688;62.9732882467565,61.9671083533370;62.9732882467565,61.9671083533370;63.8208725691652,62.8501613386744;64.6498279540005,63.7209780972444;65.4601544012624,64.5795586290469;66.2518519109510,65.4259029340821;67.0249204830663,66.2600110123499;67.7793601176082,67.0818828638502;68.5151708145768,67.8915184885832;69.2323525739721,68.6889178865488;69.9309053957939,69.4740810577470;70.6108292800425,70.2470080021779;70.6108292800425,70.2470080021779;71.2987756685083,70.9876840475278;72.0213960029821,71.6760945214834;72.7786902834637,72.3122394240445;73.5706585099533,72.8961187552113;74.3973006824507,73.4277325149838;75.2586168009561,73.9070807033618;76.1546068654694,74.3341633203454;77.0852708759906,74.7089803659347;78.0506088325197,75.0315318401296;79.0506207350567,75.3018177429301;79.0506207350567,75.3018177429301;80.0606288442175,75.6049089412533;81.0559554206180,76.0258763020162;82.0366004642582,76.5647198252189;83.0025639751381,77.2214395108612;83.9538459532577,77.9960353589433;84.8904463986170,78.8885073694651;85.8123653112160,79.8988555424267;86.7196026910548,81.0270798778279;87.6121585381331,82.2731803756689;88.4900328524513,83.6371570359496;88.4900328524513,83.6371570359496;89.3411970790133,85.0203103118764;90.1536226628574,86.3239406575938;90.9273096039835,87.5480480731017;91.6622579023918,88.6926325584002;92.3584675580821,89.7576941134893;93.0159385710545,90.7432327383690;93.6346709413089,91.6492484330393;94.2146646688455,92.4757411975002;94.7559197536641,93.2227110317517;95.2584361957648,93.8901579357937;95.2584361957648,93.8901579357937;95.7406842424919,94.5161732514709;96.2211341411515,95.1388483206466;96.6997858917437,95.7581831433208;97.1766394942684,96.3741777194936;97.6516949487256,96.9868320491650;98.1249522551154,97.5961461323348;98.5964114134378,98.2021199690033;99.0660724236926,98.8047535591703;99.5339352858800,99.4040469028359;100,100];

ms_i = 5;
uav_ws = 1.0;
%Make youtube video

%For static obstacle field, need:
%position, size of static obstacles

rng(6);
n_obs = 52; %number of static obstacles
obs = rand(n_obs,2)*90+5; %obstacle locations
rng(4); %for partially random obstacle size
obs_rad = 3.9-uav_ws +  rand(n_obs,1)*3; %obstacle radius

end